Title :
An alternative method for minimization of the driving forces in redundant manipulators
Author :
Kazerounian, K. ; Nedungadi, A.
Author_Institution :
The University of Connecticut, Storrs, CT
Abstract :
A discretized equation allows the acceleration terms to be changed to velocity terms in the definition of joint driving forces in robotic manipulators. An eleven degrees of freedom, three dimensional robotic manipulator is used in a numerical example to test the developed algorithm. Numerical and algorithmic stabilities are also discussed.
Keywords :
Acceleration; Actuators; Energy resolution; Equations; Jacobian matrices; Kinetic energy; Manipulator dynamics; Mechanical engineering; Minimization methods; Orbital robotics;
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
DOI :
10.1109/ROBOT.1987.1087807
